{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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     ]
    },
    {
     "data": {
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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "10.361921899999999\n",
      "[array([-0.01095524,  0.00018321,  0.0143599 ,  0.0189301 ,  0.01412667,\n",
      "       -0.01278867, -0.01226236,  0.01518791,  0.01806691,  0.01897128,\n",
      "        0.01881257, -0.01897705, -0.0097155 ,  0.01538909, -0.01034557,\n",
      "       -0.01461462, -0.01906814, -0.01696451, -0.01536797, -0.02      ,\n",
      "        0.01772081, -0.01443453, -0.01636195, -0.01776072,  0.01746471,\n",
      "        0.02      , -0.01128905, -0.0170717 , -0.01671803,  0.0166023 ,\n",
      "        0.01051609, -0.01675469, -0.01608766, -0.01837523,  0.00857629,\n",
      "       -0.01551608]), array([-0.00204838,  0.00020552,  0.00177972,  0.00347428, -0.00013472,\n",
      "        0.00380301,  0.00066029,  0.00170409,  0.00287039,  0.00563057,\n",
      "        0.00429091, -0.00453613, -0.00143507,  0.00356986, -0.00080918,\n",
      "       -0.00209734, -0.00392564, -0.00109052, -0.00316358, -0.0051735 ,\n",
      "        0.00274667, -0.00110876, -0.00110211, -0.00175945,  0.00364744,\n",
      "        0.00385538, -0.00044753, -0.00322055, -0.00255399,  0.00302493,\n",
      "        0.00169773, -0.00187347, -0.00136184, -0.00435207,  0.00223958,\n",
      "        0.00035369]), array([-0.00870526, -0.00114836,  0.01194012,  0.0173862 ,  0.00928741,\n",
      "       -0.00973691, -0.01105578,  0.0149563 ,  0.01513877,  0.01848934,\n",
      "        0.01724696, -0.01757354, -0.0074275 ,  0.01540335, -0.00747207,\n",
      "       -0.01390676, -0.01799123, -0.01437909, -0.01269066, -0.01884634,\n",
      "        0.01673496, -0.0124934 , -0.01466799, -0.01410557,  0.01307982,\n",
      "        0.01624769, -0.00741027, -0.01397483, -0.01417935,  0.01348803,\n",
      "        0.00925325, -0.01438187, -0.01270454, -0.0156545 ,  0.00681147,\n",
      "       -0.01427103])]\n",
      "179\n",
      "[2.520928, 0.9064981, 5.2079797]\n"
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "f = open(\"/home/yunke/prl_proj/panda_ws/src/franka_cal_sim/python/replay_buffer.txt\", \"r\")\n",
    "obs, actions, rewards, next_obs, terminals = [],[],[],[],[]\n",
    "for line in f:\n",
    "    cols = line.strip().split('\\t')\n",
    "    obs_s = cols[0].split(';')\n",
    "    obs_t = []\n",
    "    for obss in obs_s:\n",
    "        obs_t.append([float(v) for v in obss.split(',')])\n",
    "    obs_s_tp1 = cols[3].split(';')\n",
    "    obs_tp1 = []\n",
    "    for obss in obs_s_tp1:\n",
    "        obs_tp1.append([float(v) for v in obss.split(',')])\n",
    "    obs_t = np.array(obs_t)\n",
    "    obs.append(obs_t)\n",
    "    action = np.array([float(v) for v in cols[1].split(',')])\n",
    "    actions.append(action)\n",
    "    rewards.append(float(cols[2]))\n",
    "    obs_tp1 = np.array(obs_tp1)\n",
    "    next_obs.append(obs_tp1)\n",
    "    terminals.append(bool(cols[4]==\"True\"))\n",
    "\n",
    "\n",
    "rewards = rewards[28:]\n",
    "print(rewards)\n",
    "episode_rewards = []\n",
    "for i in range(0,len(rewards)-6,3):\n",
    "    episode_rewards.append(np.sum(rewards[i:i+3]))\n",
    "print(episode_rewards)\n",
    "plt.plot(rewards)\n",
    "plt.show()\n",
    "plt.plot(episode_rewards)\n",
    "plt.show()\n",
    "print(episode_rewards[-7])\n",
    "print(actions[-9:-6])\n",
    "print(len(rewards))\n",
    "print(rewards[147:150]) #156 159\n",
    "np.savetxt(\"/home/yunke/prl_proj/panda_ws/src/franka_cal_sim/python/action.txt\",actions[147:150])"
   ]
  },
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   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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